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annotate gnss-galileo.h @ 64:8e85919405df

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gnss-galileo: add a valid bit to each ephemeris This is easier than trying to guess whether the ephemeris contains any meaningful values. Signed-off-by: Josef 'Jeff' Sipek <jeffpc@josefsipek.net>
author Josef 'Jeff' Sipek <jeffpc@josefsipek.net>
date Wed, 22 Jan 2020 10:10:26 -0500
parents c8c848632471
children 123cac19d9bd
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1 /*
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2 * Copyright (c) 2020 Josef 'Jeff' Sipek <jeffpc@josefsipek.net>
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3 *
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4 * Permission is hereby granted, free of charge, to any person obtaining a copy
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5 * of this software and associated documentation files (the "Software"), to deal
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6 * in the Software without restriction, including without limitation the rights
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7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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8 * copies of the Software, and to permit persons to whom the Software is
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9 * furnished to do so, subject to the following conditions:
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10 *
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11 * The above copyright notice and this permission notice shall be included in
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12 * all copies or substantial portions of the Software.
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13 *
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14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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20 * SOFTWARE.
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21 */
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23 #ifndef __GNSS_GALILEO_H
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24 #define __GNSS_GALILEO_H
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26 #include <jeffpc/types.h>
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28 #include "gnss.h"
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30 /* The highest sv number that we should ever see */
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31 #define GALILEO_MAX_SV_ID 36
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32
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33 struct galileo_inav_page {
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34 bool page_nominal;
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35
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36 union {
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37 struct {
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38 uint32_t sar; /* 22 bits */
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39 uint8_t type; /* 6 bits */
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40 struct {
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41 uint16_t iod; /* 10 bits */
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42 uint16_t t0e; /* 14 bits */
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43 int32_t m0; /* 32 bits */
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44 uint32_t e; /* 32 bits */
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45 uint32_t sqrt_a; /* 32 bits */
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46 } w1;
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47 struct {
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48 uint16_t iod; /* 10 bits */
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49 int32_t omega0; /* 32 bits */
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50 int32_t i0; /* 32 bits */
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51 int32_t omega; /* 32 bits */
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52 int16_t idot; /* 14 bits */
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53 } w2;
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54 struct {
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55 uint16_t iod; /* 10 bits */
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56 int32_t omegadot; /* 24 bits */
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57 int16_t delta_n; /* 16 bits */
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58 int16_t cuc; /* 16 bits */
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59 int16_t cus; /* 16 bits */
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60 int16_t crc; /* 16 bits */
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61 int16_t crs; /* 16 bits */
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62 uint8_t sisa; /* 8 bits */
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63 } w3;
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64 struct {
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65 uint16_t iod; /* 10 bits */
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66 uint8_t svid; /* 6 bits */
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67 int16_t cic; /* 16 bits */
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68 int16_t cis; /* 16 bits */
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69 uint16_t t0c; /* 14 bits */
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70 uint32_t af0; /* 31 bits */
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71 uint32_t af1; /* 21 bits */
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72 uint8_t af2; /* 6 bits */
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73 } w4;
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74 struct {
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75 uint16_t ai0; /* 11 bits */
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76 uint16_t ai1; /* 11 bits */
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77 uint16_t ai2; /* 14 bits */
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78 bool reg1;
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79 bool reg2;
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80 bool reg3;
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81 bool reg4;
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82 bool reg5;
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83 uint16_t bgda; /* 10 bits */
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84 uint16_t bgdb; /* 10 bits */
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85 uint8_t e5bhs; /* 2 bits */
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86 uint8_t e1bhs; /* 2 bits */
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87 bool e5bdvs;
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88 bool e1bdvs;
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89 uint16_t wn; /* 12 bits */
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90 uint32_t tow; /* 20 bits */
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91 } w5;
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92 struct {
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93 uint32_t a0; /* 32 bits */
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94 uint32_t a1; /* 24 bits */
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95 uint8_t delta_tls; /* 8 bits */
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96 uint8_t tot; /* 8 bits */
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97 uint8_t wn0t; /* 8 bits */
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98 uint8_t wnlsf; /* 8 bits */
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99 uint8_t dn; /* 3 bits */
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100 uint8_t delta_tlsf; /* 8 bits */
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101 uint32_t tow; /* 20 bits */
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102 } w6;
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103 struct {
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104 uint8_t iod; /* 4 bits */
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105 uint8_t wn; /* 2 bits */
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106 uint16_t t0a; /* 10 bits */
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107 uint8_t svid1; /* 6 bits */
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108 int16_t sv1_delta_sqrt_a; /* 13 bits */
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109 uint16_t sv1_e; /* 11 bits */
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110 int16_t sv1_omega; /* 16 bits */
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111 int16_t sv1_delta; /* 11 bits */
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112 int16_t sv1_omega0; /* 16 bits */
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113 int16_t sv1_omegadot; /* 11 bits */
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114 int16_t sv1_m0; /* 16 bits */
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115 } w7;
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116 struct {
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117 uint8_t iod; /* 4 bits */
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118 int16_t sv1_af0; /* 16 bits */
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119 int16_t sv1_af1; /* 13 bits */
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120 uint8_t sv1_e5bhs; /* 2 bits */
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121 uint8_t sv1_e1bhs; /* 2 bits */
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122 uint8_t svid2; /* 6 bits */
21
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123 int16_t sv2_delta_sqrt_a; /* 13 bits */
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124 uint16_t sv2_e; /* 11 bits */
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125 int16_t sv2_omega; /* 16 bits */
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126 int16_t sv2_delta; /* 11 bits */
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127 int16_t sv2_omega0; /* 16 bits */
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128 int16_t sv2_omegadot; /* 11 bits */
20
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129 } w8;
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130 struct {
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131 uint8_t iod; /* 4 bits */
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132 uint8_t wn; /* 2 bits */
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133 uint16_t t0a; /* 10 bits */
21
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134 int16_t sv2_m0; /* 16 bits */
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135 int16_t sv2_af0; /* 16 bits */
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136 int16_t sv2_af1; /* 13 bits */
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diff changeset
137 uint8_t sv2_e5bhs; /* 2 bits */
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diff changeset
138 uint8_t sv2_e1bhs; /* 2 bits */
20
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139 uint8_t svid3; /* 6 bits */
21
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140 int16_t sv3_delta_sqrt_a; /* 13 bits */
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141 uint16_t sv3_e; /* 11 bits */
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142 int16_t sv3_omega; /* 16 bits */
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143 int16_t sv3_delta; /* 11 bits */
20
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144 } w9;
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145 struct {
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146 uint8_t iod; /* 4 bits */
21
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147 int16_t sv3_omega0; /* 16 bits */
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148 int16_t sv3_omegadot; /* 11 bits */
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149 int16_t sv3_m0; /* 16 bits */
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diff changeset
150 int16_t sv3_af0; /* 16 bits */
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diff changeset
151 int16_t sv3_af1; /* 13 bits */
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diff changeset
152 uint8_t sv3_e5bhs; /* 2 */
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diff changeset
153 uint8_t sv3_e1bhs; /* 2 */
20
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154 uint16_t a0g; /* 16 bits */
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155 uint16_t a1g; /* 12 bits */
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156 uint8_t t0g; /* 8 bits */
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157 uint8_t wn; /* 6 bits */
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158 } w10;
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159 struct {
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160 uint16_t wn; /* 12 bits */
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161 uint32_t tow; /* 20 bits */
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162 } w0;
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163 } nominal;
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164 struct {
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165 /* TODO */
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166 } alert;
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167 };
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168 };
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169
22
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170 struct galileo_ephemeris {
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171 unsigned int sv;
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172 uint16_t iod;
64
8e85919405df gnss-galileo: add a valid bit to each ephemeris
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diff changeset
173 bool valid:1;
22
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174
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175 /* All in radians, except as noted */
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176 double m0;
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177 double delta_n; /* rad/s */
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178 double e;
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179 double sqrt_a; /* sqrt(m) */
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180 double omega0;
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181 double i0;
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182 double omega;
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183 double omegadot; /* rad/s */
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184 double idot; /* rad/s */
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185 double cuc;
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diff changeset
186 double cus;
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187 double crc; /* m */
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188 double crs; /* m */
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189 double cic;
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diff changeset
190 double cis;
23
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diff changeset
191 struct {
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diff changeset
192 uint32_t raw; /* s */
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193 uint32_t gst;
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194 } t0;
22
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195 };
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diff changeset
196
54
c8c848632471 gnss-galileo: state decoder
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diff changeset
197 struct galileo_state;
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diff changeset
198
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199 struct galileo_state_time {
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200 uint32_t gst; /* calculated from wn & tow */
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201 uint16_t wn;
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diff changeset
202 uint32_t tow;
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diff changeset
203 bool valid:1;
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204 };
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diff changeset
205
c8c848632471 gnss-galileo: state decoder
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diff changeset
206 struct galileo_state_ops {
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diff changeset
207 /*
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208 * We got an updated ephemeris from a satellite. If @prev is NULL,
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diff changeset
209 * this is the first update for this satellite.
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210 */
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diff changeset
211 void (*eph_update)(struct galileo_state *state,
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diff changeset
212 const struct galileo_ephemeris *prev,
c8c848632471 gnss-galileo: state decoder
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diff changeset
213 const struct galileo_ephemeris *new);
c8c848632471 gnss-galileo: state decoder
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diff changeset
214 void (*time)(struct galileo_state *state,
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diff changeset
215 const unsigned int tx_sv,
c8c848632471 gnss-galileo: state decoder
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diff changeset
216 const struct galileo_state_time *now,
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diff changeset
217 const struct galileo_state_time *prev_sv_time);
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diff changeset
218 };
c8c848632471 gnss-galileo: state decoder
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diff changeset
219
c8c848632471 gnss-galileo: state decoder
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diff changeset
220 struct galileo_state {
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diff changeset
221 const struct galileo_state_ops *ops;
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diff changeset
222
c8c848632471 gnss-galileo: state decoder
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diff changeset
223 /* global system time */
c8c848632471 gnss-galileo: state decoder
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diff changeset
224 struct galileo_state_time time;
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diff changeset
225
c8c848632471 gnss-galileo: state decoder
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226 /*
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diff changeset
227 * Note: SV numbers are currently 1..GALILEO_MAX_SV_ID. To make it
c8c848632471 gnss-galileo: state decoder
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diff changeset
228 * simpler, we use them as-is to index into the various structures.
c8c848632471 gnss-galileo: state decoder
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diff changeset
229 * This means, that we need to make all of them have +1 entries, and
c8c848632471 gnss-galileo: state decoder
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diff changeset
230 * the first entry is wasted.
c8c848632471 gnss-galileo: state decoder
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diff changeset
231 */
c8c848632471 gnss-galileo: state decoder
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diff changeset
232
c8c848632471 gnss-galileo: state decoder
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diff changeset
233 /* each SV's data */
c8c848632471 gnss-galileo: state decoder
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diff changeset
234 struct {
c8c848632471 gnss-galileo: state decoder
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diff changeset
235 struct galileo_ephemeris eph;
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diff changeset
236 struct galileo_state_time last_time;
c8c848632471 gnss-galileo: state decoder
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diff changeset
237 bool valid_eph:1;
c8c848632471 gnss-galileo: state decoder
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diff changeset
238 } sv[GALILEO_MAX_SV_ID + 1];
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diff changeset
239
c8c848632471 gnss-galileo: state decoder
Josef 'Jeff' Sipek <jeffpc@josefsipek.net>
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diff changeset
240 /* partially assembled data */
c8c848632471 gnss-galileo: state decoder
Josef 'Jeff' Sipek <jeffpc@josefsipek.net>
parents: 26
diff changeset
241 struct {
c8c848632471 gnss-galileo: state decoder
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diff changeset
242 struct {
c8c848632471 gnss-galileo: state decoder
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diff changeset
243 /* The ephemeris is split across 4 pages */
c8c848632471 gnss-galileo: state decoder
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diff changeset
244 struct galileo_ephemeris eph;
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245 uint32_t gst[4]; /* global time when recv'd */
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246 uint16_t iod[4];
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247 } nav;
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248 } wip[GALILEO_MAX_SV_ID + 1];
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249 };
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250
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251 extern void galileo_print_eph(const struct galileo_ephemeris *eph);
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252 extern void galileo_eph_ecef(const struct galileo_ephemeris *eph,
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253 const uint32_t gst, struct ecef *ecef);
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254
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255 extern bool galileo_parse_inav_page(struct galileo_inav_page *pg,
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256 const uint32_t *words,
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257 size_t nwords);
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258
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259 extern void galileo_state_init(struct galileo_state *state,
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260 const struct galileo_state_ops *ops);
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261 extern bool galileo_state_apply_page(struct galileo_state *state,
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262 const unsigned int sv,
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263 const struct galileo_inav_page *pg);
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264
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265 #endif